Un marco de aprendizaje de refuerzo de imitación-relajación para la locomoción de robots de cuatro patas

    Para que los robots con patas exploren su entorno de manera efectiva y completen misiones, deben poder moverse de manera rápida y confiable. En los últimos años, especialistas en robótica e informáticos han creado varios modelos para la locomoción de robots con patas, muchos de los cuales están entrenados mediante métodos de aprendizaje por refuerzo.

La locomoción efectiva de los robots con patas implica resolver varios problemas diferentes. Estos incluyen asegurarse de que los robots mantengan el equilibrio, que se muevan de la manera más eficiente, que alteren periódicamente los movimientos de sus piernas para producir un modo de andar particular y que puedan seguir órdenes.

Si bien algunos enfoques para la locomoción de robots con patas han logrado resultados prometedores, muchos no pueden abordar todos estos problemas de manera consistente. Cuando lo hacen, a veces tienen dificultades para alcanzar altas velocidades, por lo que solo permiten que los robots se muevan lentamente.

Investigadores de la Universidad de Zhejiang y el Centro Científico y Tecnológico Global ZJU-Hangzhou han creado recientemente un nuevo marco que podría permitir que los robots de cuatro patas se muevan de manera eficiente y a altas velocidades. Este marco, introducido en Nature Machine Intelligence, se basa en un método de entrenamiento conocido como aprendizaje reforzado por imitación-relajación (IRRL).

«Permitir que los robots se pongan al día con la biomovilidad es el objetivo de investigación de mis sueños», dijo a TechXplore Jin Yongbin, uno de los investigadores que llevó a cabo el estudio. «En su implementación, nuestra idea se inspiró en la comunicación interdisciplinaria entre los gráficos por computadora, la ciencia de los materiales y la mecánica. El hiperplano característico está inspirado en el diagrama de fase ternario en la ciencia de los materiales».

En contraste con los métodos convencionales de aprendizaje por refuerzo, el enfoque propuesto por Yongbin y sus colegas optimiza los diferentes objetivos de la locomoción del robot con patas en etapas. Además, al evaluar la solidez de su sistema, los investigadores introdujeron la noción de «estabilidad estocástica», una medida que esperaban reflejara mejor cómo se desempeñaría un robot en entornos del mundo real (es decir, en oposición a las simulaciones).

«Tratamos de comprender las características de las diferentes funciones de sub-recompensa y luego remodelamos la función de recompensa final para evitar la influencia del extremo local», explicó Yongbin. «Desde otra perspectiva, la efectividad de este método radica en el proceso de aprendizaje fácil a difícil. La imitación de movimiento proporciona una buena estimación inicial para la solución óptima».

Los investigadores evaluaron su enfoque en una serie de pruebas, tanto en simulaciones de un robot de cuatro patas como ejecutando su análisis de estabilidad estocástica. Descubrieron que permitía que el robot de cuatro patas, que se asemeja al renombrado robot Mini-Cheetah creado por el MIT, corriera a una velocidad de 5,0 m/s-1, sin perder el equilibrio.

«Creo que hay dos contribuciones principales de este trabajo», dijo Yongbin. «El primero es el método hiperplano propuesto, que nos ayuda a explorar la naturaleza de la recompensa en el espacio de parámetros de dimensiones ultraaltas, guiando así el diseño de la recompensa para el controlador basado en RL. El segundo es el método de evaluación de estabilidad cuantitativa que trata de cerrar la brecha entre la simulación y la realidad».

El marco presentado por este equipo de investigadores pronto podría implementarse y evaluarse en diferentes entornos del mundo real, utilizando varios robots con patas físicas. En última instancia, podría ayudar a mejorar la locomoción de los robots con patas existentes y de nueva creación, permitiéndoles moverse más rápido, completar misiones en menos tiempo y llegar a las ubicaciones objetivo de manera más eficiente.

«Hasta ahora, la métrica de estabilidad basada en la entropía es un método a posteriori», agregó Yongbin. «En el futuro, introduciremos directamente indicadores de estabilidad en el proceso de aprendizaje del controlador y nos esforzaremos por alcanzar la agilidad de las criaturas naturales».

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